A discrete-time observer for flexible-joint manipulators

Abstract

A robust observer-based control scheme is proposed for flexible joint robots. A robust observer, estimating the link acceleration and jerk from position and velocity measurements, is combined with a state feedback control law to achieve robust tracking. Both simulation and experimental results are presented to illustrate the techniques.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>